Figure 1From: Space mapping-based receding horizon control for stochastic interacting particle systems: dogs herding sheepVisualization of the receding horizon procedure. The first iteration computes the optimal control on the interval \(I_{1}\). Only the first half of it, \(u_{*}^{1}\), is accepted as optimal solution. Then the optimal control on the interval \([I_{1}/2, I_{2}/2]\) is computed. The first half, \(u_{*}^{2}\), is accepted and clued to \(u_{*}^{1}\). These two steps give us the optimal control on \(I_{1}\). We proceed iteratively up to the terminal time TBack to article page